import matplotlib.pyplot as plt

p1 = [[560, 883], [589, 428]]
p2 = [[586, 506], (618, 6)]

for i in range(len(p1)):
    plt.plot([p1[i][0], p2[i][0]], [p1[i][1], p2[i][1]], color='r')
    plt.scatter([p1[i][0], p2[i][0]], [p1[i][1], p2[i][1]], color='b')
plt.show()
